Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 438

Switching of control mode (Continuous operation to torque control)
■Switching method of control mode
Turn OFF to ON the control mode switching request device after setting the control mode in the control mode setting device
(30: Continuous operation to torque control mode) to switch from position control mode or speed control mode to continuous
operation to torque control.
When the mode is switched to continuous operation to torque control mode, the control data used in continuous operation to
torque control mode must be set before turning on the control mode switching request device.
When the switching condition is satisfied at control mode switching request, the control mode is switched, and the "[St.1040]
Start accept flag (R: M30080+n/Q: M2001+n)" turns ON.
The following shows the switching condition of continuous operation to torque control mode.
Position control mode
(1) (2)
Continuous operation
to torque control mode
Switching operation
Position control mode  Continuous operation to torque control mode
(1)
Continuous operation to torque control mode  Position control mode
(2)
Speed control mode  Continuous operation to torque control mode
(3)
Continuous operation to torque control mode  Speed control mode
(4)
Torque control mode  Continuous operation to torque control mode
(5)
Continuous operation to torque control mode  Torque control mode
(6)
*1 The "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" is OFF.
*2 ZERO speed (b3) of "[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" is ON. The control mode can be changed without
checking the switching condition of "during motor stop" in Motion CPU by setting "1: Condition during zero speed at control mode
switching: invalid" in "Invalid selection during zero speed at control mode switching". Set "1: Condition during zero speed at control
mode switching: invalid" to switch the control mode without waiting for stop of servo motor.
Confirm the status of continuous operation to torque control mode with "Continuous operation to torque control (b14)" of
"[Md.125] Servo status3 (R: D32034+48n/Q: #8012+20n)". When the mode is switched to continuous operation to torque
control mode, the value in "control mode (b2, b3)" of "[Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n)" will stay the
same before control mode switching.
• Continuous operation to torque control mode (b14) of "[Md.125] Servo status3 (R: D32034+48n/Q: #8012+20n)"
b14 Continuous operation to torque control mode
0 Not continuous operation to torque control mode
1 Continuous operation to torque control mode
7 AUXILIARY AND APPLIED FUNCTIONS
436
7.5 Speed-Torque Control
Speed control mode Torque control mode
(3) (4)
Continuous operation Continuous operation
to torque control mode to torque control mode
(5) (6)
Switching condition
*1
Not during positioning
• ABS-1: 1-axis linear control (ABS)
• INC-1: 1-axis linear control (INC)
• FEED-1: 1-axis fixed-feed control
• VF: Speed control () (Forward)
• VR: Speed control () (Reverse)
• VPF: Speed-position switching control (Forward)
• VPR: Speed-position switching control (Reverse)
• PFSTART: Position follow-up control
• CPSTART1: 1-axis continuous trajectory control
• PVF: Speed control with fixed position stop (Forward)
• PVR: Speed control with fixed position stop (Reverse)
*: JOG operation, Speed control () (VVF, VVR), High-speed oscillation
control (OSC) are not supported.
*2
During motor stop
None
Switching not possible
or during following positioning mode